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Skip to Search Results- 1Flexible robotics
- 1Medical robotics
- 1Motion compensation
- 1beating- heart surgery
- 1force feedback
- 1impedance control
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2019-01-01
Lingbo Cheng and Mahdi Tavakoli
Flexible and lightweight surgical tools have the potential to significantly increase the dexterity of mechatronics assisted surgical systems for minimally invasive surgeries. However, the control of a mechatronics-assisted system with the link and joint flexibility is quite challenging and needs...
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2019-01-01
Lingbo Cheng and Mahdi Tavakoli
A neural-network-based heart motion prediction method is proposed for ultrasound-guided beating-heart surgery to compensate for time delays caused by ultrasound (US) image acquisition and processing. Such image processing is needed for tracking heart tissue in US images, which is itself...
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2018-01-01
Lingbo Cheng and Mahdi Tavakoli
A novel control method is proposed for master-slave telerobotic beating-heart surgery to solve the challenges of rapid heart motion and oscillatory haptic feedback. In this paper, the ultrasound imaging-based control algorithms are used to make the slave robot compensate for the heart motion...